docs(aloha_ws): Add RViz/Gazebo/MoveIt

README.md

@@ -24,6 +24,7 @@ Pulling the pre-built Docker images can bypass the time-consuming building proce
 | `j3soon/ros2-kobuki-ws` [[tags](https://hub.docker.com/r/j3soon/ros2-kobuki-ws/tags)][[code](./kobuki_ws)] | ✔️ | ✔️ | Real-world support | [Yu-Zhong Chen](https://github.com/YuZhong-Chen) |
 | `j3soon/ros2-vlp-ws` [[tags](https://hub.docker.com/r/j3soon/ros2-vlp-ws/tags)][[code](./vlp_ws)] | ✔️ | ✔️ | Real-world support | [Assume Zhan](https://github.com/Assume-Zhan) |
 | `j3soon/ros2-gazebo-world-ws` [[tags](https://hub.docker.com/r/j3soon/ros2-gazebo-world-ws/tags)][[code](./gazebo_world_ws)] | ✔️ | ❌️ | | [Yu-Zhong Chen](https://github.com/YuZhong-Chen) |
+| `j3soon/aloha-ws` [[tags](https://hub.docker.com/r/j3soon/ros2-aloha-ws/tags)][[code](./aloha_ws)] | ✔️ | ❌️ | Simulation only | |
 
 ## Acknowledgement
 

aloha_ws/README.md

@@ -1 +1,39 @@
 # aloha_ws
+
+## Start Container
+
+```sh
+cd ~/ros2-essentials/aloha_ws/docker
+docker compose up
+# in a new terminal
+docker exec -it ros2-aloha-ws bash
+```
+
+## View Robot Model in RViz
+
+```sh
+ros2 launch interbotix_xsarm_descriptions xsarm_description.launch.py robot_model:=vx300s use_joint_pub_gui:=true
+```
+
+## View Robot Model in Gazebo
+
+```sh
+ros2 launch interbotix_xsarm_sim xsarm_gz_classic.launch.py robot_model:=vx300s
+```
+
+## MoveIt 2
+
+```sh
+# with Gazebo
+ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=gz_classic
+# or without Gazebo
+ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=fake
+```
+
+## References
+
+- [Interbotix X-Series Arms \| Trossen Robotics Documentation](https://docs.trossenrobotics.com/interbotix_xsarms_docs/index.html)
+  - [ROS 2 Interface](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2.html)
+    - [ROS 2 Standard Software Setup](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/software_setup.html)
+  - [ROS 2 Open Source Packages](https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros2_packages.html)
+- [Stationary ALOHA Software Setup \| Trossen Robotics Documentation](https://docs.trossenrobotics.com/aloha_docs/getting_started/stationary/software_setup.html)